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<h1>USBIsr.c</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment">  FreeRTOS.org V4.6.0 - Copyright (C) 2003-2007 Richard Barry.</span>
<a name="l00003"></a>00003 <span class="comment"></span>
<a name="l00004"></a>00004 <span class="comment">  This file is part of the FreeRTOS.org distribution.</span>
<a name="l00005"></a>00005 <span class="comment"></span>
<a name="l00006"></a>00006 <span class="comment">  FreeRTOS.org is free software; you can redistribute it and/or modify</span>
<a name="l00007"></a>00007 <span class="comment">  it under the terms of the GNU General Public License as published by</span>
<a name="l00008"></a>00008 <span class="comment">  the Free Software Foundation; either version 2 of the License, or</span>
<a name="l00009"></a>00009 <span class="comment">  (at your option) any later version.</span>
<a name="l00010"></a>00010 <span class="comment"></span>
<a name="l00011"></a>00011 <span class="comment">  FreeRTOS.org is distributed in the hope that it will be useful,</span>
<a name="l00012"></a>00012 <span class="comment">  but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00013"></a>00013 <span class="comment">  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the</span>
<a name="l00014"></a>00014 <span class="comment">  GNU General Public License for more details.</span>
<a name="l00015"></a>00015 <span class="comment"></span>
<a name="l00016"></a>00016 <span class="comment">  You should have received a copy of the GNU General Public License</span>
<a name="l00017"></a>00017 <span class="comment">  along with FreeRTOS.org; if not, write to the Free Software</span>
<a name="l00018"></a>00018 <span class="comment">  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA</span>
<a name="l00019"></a>00019 <span class="comment"></span>
<a name="l00020"></a>00020 <span class="comment">  A special exception to the GPL can be applied should you wish to distribute</span>
<a name="l00021"></a>00021 <span class="comment">  a combined work that includes FreeRTOS.org, without being obliged to provide</span>
<a name="l00022"></a>00022 <span class="comment">  the source code for any proprietary components.  See the licensing section </span>
<a name="l00023"></a>00023 <span class="comment">  of http://www.FreeRTOS.org for full details of how and when the exception</span>
<a name="l00024"></a>00024 <span class="comment">  can be applied.</span>
<a name="l00025"></a>00025 <span class="comment"></span>
<a name="l00026"></a>00026 <span class="comment">  ***************************************************************************</span>
<a name="l00027"></a>00027 <span class="comment">  See http://www.FreeRTOS.org for documentation, latest information, license </span>
<a name="l00028"></a>00028 <span class="comment">  and contact details.  Please ensure to read the configuration and relevant </span>
<a name="l00029"></a>00029 <span class="comment">  port sections of the online documentation.</span>
<a name="l00030"></a>00030 <span class="comment">  ***************************************************************************</span>
<a name="l00031"></a>00031 <span class="comment">*/</span>
<a name="l00032"></a>00032 
<a name="l00033"></a>00033 
<a name="l00034"></a>00034 <span class="comment">/* </span>
<a name="l00035"></a>00035 <span class="comment">  BASIC INTERRUPT DRIVEN DRIVER FOR USB. </span>
<a name="l00036"></a>00036 <span class="comment"></span>
<a name="l00037"></a>00037 <span class="comment">  This file contains all the usb components that must be compiled</span>
<a name="l00038"></a>00038 <span class="comment">  to ARM mode.  The components that can be compiled to either ARM or THUMB</span>
<a name="l00039"></a>00039 <span class="comment">  mode are contained in USB-CDC.c.</span>
<a name="l00040"></a>00040 <span class="comment"></span>
<a name="l00041"></a>00041 <span class="comment">*/</span>
<a name="l00042"></a>00042 
<a name="l00043"></a>00043 <span class="comment">/* MakingThings */</span>
<a name="l00044"></a>00044 <span class="preprocessor">#include "config.h"</span>
<a name="l00045"></a>00045 <span class="preprocessor">#ifdef MAKE_CTRL_USB</span>
<a name="l00046"></a>00046 <span class="preprocessor"></span>
<a name="l00047"></a>00047 <span class="preprocessor">#include "FreeRTOS.h"</span>
<a name="l00048"></a>00048 <span class="preprocessor">#include "task.h"</span>
<a name="l00049"></a>00049 <span class="preprocessor">#include "queue.h"</span>
<a name="l00050"></a>00050 <span class="preprocessor">#include "Board.h"</span>
<a name="l00051"></a>00051 <span class="comment">// MakingThings: renamed</span>
<a name="l00052"></a>00052 <span class="preprocessor">#include "usb_internal.h"</span>
<a name="l00053"></a>00053 <span class="preprocessor">#include "USB-CDC.h"</span>
<a name="l00054"></a>00054 
<a name="l00055"></a>00055 <span class="preprocessor">#define usbINT_CLEAR_MASK (AT91C_UDP_TXCOMP | AT91C_UDP_STALLSENT | AT91C_UDP_RXSETUP | AT91C_UDP_RX_DATA_BK0 | AT91C_UDP_RX_DATA_BK1 )</span>
<a name="l00056"></a>00056 <span class="preprocessor"></span><span class="comment">/*-----------------------------------------------------------*/</span>
<a name="l00057"></a>00057 
<a name="l00058"></a>00058 <span class="comment">/* Messages and queue used to communicate between the ISR and the USB task. */</span>
<a name="l00059"></a>00059 <span class="keyword">static</span> xISRStatus xISRMessages[ usbQUEUE_LENGTH + 1 ];
<a name="l00060"></a>00060 <span class="keyword">extern</span> xQueueHandle xUSBInterruptQueue;
<a name="l00061"></a>00061 <span class="comment">/*-----------------------------------------------------------*/</span>
<a name="l00062"></a>00062 
<a name="l00063"></a>00063 <span class="comment">/* The ISR can cause a context switch so is declared naked. */</span>
<a name="l00064"></a>00064 <span class="keywordtype">void</span> vUSB_ISR_Wrapper( <span class="keywordtype">void</span> ) __attribute__ ((naked));
<a name="l00065"></a>00065 
<a name="l00066"></a>00066 <span class="comment">/* The function that actually performs the ISR work.  This must be separate</span>
<a name="l00067"></a>00067 <span class="comment">from the wrapper function to ensure the correct stack frame gets set up. */</span>
<a name="l00068"></a>00068 <span class="keywordtype">void</span> vUSB_ISR_Handler( <span class="keywordtype">void</span> );
<a name="l00069"></a>00069 <span class="comment">/*-----------------------------------------------------------*/</span>
<a name="l00070"></a>00070 
<a name="l00071"></a>00071 <span class="keywordtype">void</span> vUSB_ISR_Handler( <span class="keywordtype">void</span> )
<a name="l00072"></a>00072 {
<a name="l00073"></a>00073 portCHAR cTaskWokenByPost = pdFALSE;
<a name="l00074"></a>00074 <span class="keyword">static</span> <span class="keyword">volatile</span> <span class="keywordtype">unsigned</span> portLONG ulNextMessage = 0;
<a name="l00075"></a>00075 xISRStatus *pxMessage;
<a name="l00076"></a>00076 <span class="keywordtype">unsigned</span> portLONG ulRxBytes;
<a name="l00077"></a>00077 <span class="keywordtype">unsigned</span> portCHAR ucFifoIndex;
<a name="l00078"></a>00078 
<a name="l00079"></a>00079     <span class="comment">/* Use the next message from the array. */</span>
<a name="l00080"></a>00080   pxMessage = &amp;( xISRMessages[ ( ulNextMessage &amp; usbQUEUE_LENGTH ) ] );
<a name="l00081"></a>00081   ulNextMessage++;
<a name="l00082"></a>00082 
<a name="l00083"></a>00083     <span class="comment">/* Save UDP ISR state for task-level processing. */</span>
<a name="l00084"></a>00084   pxMessage-&gt;ulISR = AT91C_BASE_UDP-&gt;UDP_ISR;
<a name="l00085"></a>00085   pxMessage-&gt;ulCSR0 = AT91C_BASE_UDP-&gt;UDP_CSR[ usbEND_POINT_0 ];
<a name="l00086"></a>00086 
<a name="l00087"></a>00087     <span class="comment">/* Clear interrupts from ICR. */</span>
<a name="l00088"></a>00088   AT91C_BASE_UDP-&gt;UDP_ICR = AT91C_BASE_UDP-&gt;UDP_IMR | AT91C_UDP_ENDBUSRES;
<a name="l00089"></a>00089   
<a name="l00090"></a>00090     
<a name="l00091"></a>00091   <span class="comment">/* Process incoming FIFO data.  Must set DIR (if needed) and clear RXSETUP </span>
<a name="l00092"></a>00092 <span class="comment">  before exit. */</span>
<a name="l00093"></a>00093 
<a name="l00094"></a>00094     <span class="comment">/* Read CSR and get incoming byte count. */</span>
<a name="l00095"></a>00095   ulRxBytes = ( pxMessage-&gt;ulCSR0 &gt;&gt; 16 ) &amp; usbRX_COUNT_MASK;
<a name="l00096"></a>00096   
<a name="l00097"></a>00097   <span class="comment">/* Receive control transfers on endpoint 0. */</span>
<a name="l00098"></a>00098   <span class="keywordflow">if</span>( pxMessage-&gt;ulCSR0 &amp; ( AT91C_UDP_RXSETUP | AT91C_UDP_RX_DATA_BK0 ) )
<a name="l00099"></a>00099   {
<a name="l00100"></a>00100     <span class="comment">/* Save FIFO data buffer for either a SETUP or DATA stage */</span>
<a name="l00101"></a>00101     <span class="keywordflow">for</span>( ucFifoIndex = 0; ucFifoIndex &lt; ulRxBytes; ucFifoIndex++ )
<a name="l00102"></a>00102     {
<a name="l00103"></a>00103       pxMessage-&gt;ucFifoData[ ucFifoIndex ] = AT91C_BASE_UDP-&gt;UDP_FDR[ usbEND_POINT_0 ];
<a name="l00104"></a>00104     }
<a name="l00105"></a>00105 
<a name="l00106"></a>00106     <span class="comment">/* Set direction for data stage.  Must be done before RXSETUP is </span>
<a name="l00107"></a>00107 <span class="comment">    cleared. */</span>
<a name="l00108"></a>00108     <span class="keywordflow">if</span>( ( AT91C_BASE_UDP-&gt;UDP_CSR[ usbEND_POINT_0 ] &amp; AT91C_UDP_RXSETUP ) )
<a name="l00109"></a>00109     {
<a name="l00110"></a>00110       <span class="keywordflow">if</span>( ulRxBytes &amp;&amp; ( pxMessage-&gt;ucFifoData[ usbREQUEST_TYPE_INDEX ] &amp; 0x80 ) )
<a name="l00111"></a>00111       {
<a name="l00112"></a>00112         AT91C_BASE_UDP-&gt;UDP_CSR[ usbEND_POINT_0 ] |= AT91C_UDP_DIR;
<a name="l00113"></a>00113 
<a name="l00114"></a>00114         <span class="comment">/* Might not be wise in an ISR! */</span>
<a name="l00115"></a>00115         <span class="keywordflow">while</span>( !(AT91C_BASE_UDP-&gt;UDP_CSR[ usbEND_POINT_0 ] &amp; AT91C_UDP_DIR) );
<a name="l00116"></a>00116       }
<a name="l00117"></a>00117 
<a name="l00118"></a>00118       <span class="comment">/* Clear RXSETUP */</span>
<a name="l00119"></a>00119       AT91C_BASE_UDP-&gt;UDP_CSR[ usbEND_POINT_0 ] &amp;= ~AT91C_UDP_RXSETUP;
<a name="l00120"></a>00120 
<a name="l00121"></a>00121       <span class="comment">/* Might not be wise in an ISR! */</span>
<a name="l00122"></a>00122       <span class="keywordflow">while</span> ( AT91C_BASE_UDP-&gt;UDP_CSR[ usbEND_POINT_0 ] &amp; AT91C_UDP_RXSETUP );
<a name="l00123"></a>00123     }
<a name="l00124"></a>00124     <span class="keywordflow">else</span>
<a name="l00125"></a>00125     {
<a name="l00126"></a>00126        <span class="comment">/* Clear RX_DATA_BK0 */</span>
<a name="l00127"></a>00127        AT91C_BASE_UDP-&gt;UDP_CSR[ usbEND_POINT_0 ] &amp;= ~AT91C_UDP_RX_DATA_BK0;
<a name="l00128"></a>00128 
<a name="l00129"></a>00129        <span class="comment">/* Might not be wise in an ISR! */</span>
<a name="l00130"></a>00130        <span class="keywordflow">while</span> ( AT91C_BASE_UDP-&gt;UDP_CSR[ usbEND_POINT_0 ] &amp; AT91C_UDP_RX_DATA_BK0 );
<a name="l00131"></a>00131     }
<a name="l00132"></a>00132   }
<a name="l00133"></a>00133   
<a name="l00134"></a>00134   <span class="comment">/* If we received data on endpoint 1, disable its interrupts until it is </span>
<a name="l00135"></a>00135 <span class="comment">  processed in the main loop */</span>
<a name="l00136"></a>00136   <span class="keywordflow">if</span>( AT91C_BASE_UDP-&gt;UDP_CSR[ usbEND_POINT_1 ] &amp; ( AT91C_UDP_RX_DATA_BK0 | AT91C_UDP_RX_DATA_BK1 ) )
<a name="l00137"></a>00137   {
<a name="l00138"></a>00138     AT91C_BASE_UDP-&gt;UDP_IDR = AT91C_UDP_EPINT1;
<a name="l00139"></a>00139   }
<a name="l00140"></a>00140   
<a name="l00141"></a>00141   AT91C_BASE_UDP-&gt;UDP_CSR[ usbEND_POINT_0 ] &amp;= ~( AT91C_UDP_TXCOMP | AT91C_UDP_STALLSENT );
<a name="l00142"></a>00142      
<a name="l00143"></a>00143   <span class="comment">/* Clear interrupts for the other endpoints, retain data flags for endpoint </span>
<a name="l00144"></a>00144 <span class="comment">  1. */</span>
<a name="l00145"></a>00145   AT91C_BASE_UDP-&gt;UDP_CSR[ usbEND_POINT_1 ] &amp;= ~( AT91C_UDP_TXCOMP | AT91C_UDP_STALLSENT | AT91C_UDP_RXSETUP );
<a name="l00146"></a>00146   AT91C_BASE_UDP-&gt;UDP_CSR[ usbEND_POINT_2 ] &amp;= ~usbINT_CLEAR_MASK;
<a name="l00147"></a>00147   AT91C_BASE_UDP-&gt;UDP_CSR[ usbEND_POINT_3 ] &amp;= ~usbINT_CLEAR_MASK;
<a name="l00148"></a>00148 
<a name="l00149"></a>00149   <span class="comment">/* Post ISR data to queue for task-level processing */</span>
<a name="l00150"></a>00150   cTaskWokenByPost = xQueueSendFromISR( xUSBInterruptQueue, &amp;pxMessage, cTaskWokenByPost );
<a name="l00151"></a>00151 
<a name="l00152"></a>00152   <span class="comment">/* Clear AIC to complete ISR processing */</span>
<a name="l00153"></a>00153   AT91C_BASE_AIC-&gt;AIC_EOICR = 0;
<a name="l00154"></a>00154 
<a name="l00155"></a>00155   <span class="comment">/* Do a task switch if needed */</span>
<a name="l00156"></a>00156   <span class="keywordflow">if</span>( cTaskWokenByPost )
<a name="l00157"></a>00157   {
<a name="l00158"></a>00158     <span class="comment">/* This call will ensure that the unblocked task will be executed</span>
<a name="l00159"></a>00159 <span class="comment">    immediately upon completion of the ISR if it has a priority higher</span>
<a name="l00160"></a>00160 <span class="comment">    than the interrupted task. */</span>
<a name="l00161"></a>00161     portYIELD_FROM_ISR();
<a name="l00162"></a>00162   }
<a name="l00163"></a>00163 }
<a name="l00164"></a>00164 <span class="comment">/*-----------------------------------------------------------*/</span>
<a name="l00165"></a>00165 
<a name="l00166"></a>00166 <span class="keywordtype">void</span> vUSB_ISR_Wrapper( <span class="keywordtype">void</span> )
<a name="l00167"></a>00167 {
<a name="l00168"></a>00168   <span class="comment">/* Save the context of the interrupted task. */</span>
<a name="l00169"></a>00169   portSAVE_CONTEXT();
<a name="l00170"></a>00170 
<a name="l00171"></a>00171   <span class="comment">/* Call the handler to do the work.  This must be a separate</span>
<a name="l00172"></a>00172 <span class="comment">  function to ensure the stack frame is set up correctly. */</span>
<a name="l00173"></a>00173   vUSB_ISR_Handler();
<a name="l00174"></a>00174 
<a name="l00175"></a>00175   <span class="comment">/* Restore the context of whichever task will execute next. */</span>
<a name="l00176"></a>00176   portRESTORE_CONTEXT();
<a name="l00177"></a>00177 }
<a name="l00178"></a>00178 
<a name="l00179"></a>00179 <span class="preprocessor">#endif // MAKE_CTRL_USB</span>
<a name="l00180"></a>00180 <span class="preprocessor"></span>
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  <p class="footer">The Make Controller Kit is an open source project maintained by <a href="http://www.makingthings.com">MakingThings</a>.<br />
    MakingThings code is released under the <a href="http://www.apache.org/licenses/LICENSE-2.0.html" target="_blank">Apache 2.0 license</a>.<br />
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		This document was last updated on 5 Dec 2007.
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